A hand-designed nested reward formula with a secondary multi-output network is claimed to improve PPO on Pendulum-v1, but the method is underspecified and the evidence is anecdotal.
Asynchronous methods for deep reinforce- ment learning,
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Creating Hierarchical Dispositions of Needs in an Agent
A hand-designed nested reward formula with a secondary multi-output network is claimed to improve PPO on Pendulum-v1, but the method is underspecified and the evidence is anecdotal.